Intuitive Spatial Tactile Feedback for Better Awareness about Robot Trajectory during Human-Robot Collaboration

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F61989100%3A27230%2F21%3A10247904" target="_blank" >RIV/61989100:27230/21:10247904 - isvavai.cz</a>

Výsledek na webu

<a href="https://doi.org/10.3390/s21175748" target="_blank" >https://doi.org/10.3390/s21175748</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.3390/s21175748" target="_blank" >10.3390/s21175748</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Intuitive Spatial Tactile Feedback for Better Awareness about Robot Trajectory during Human-Robot Collaboration

Popis výsledku v původním jazyce

In this work, we extend the previously proposed approach of improving mutual perception during human-robot collaboration by communicating the robot&apos;s motion intentions and status to a human worker using hand-worn haptic feedback devices. The improvement is presented by introducing spatial tactile feedback, which provides the human worker with more intuitive information about the currently planned robot&apos;s trajectory, given its spatial configuration. The enhanced feedback devices communicate directional information through activation of six tactors spatially organised to represent an orthogonal coordinate frame: the vibration activates on the side of the feedback device that is closest to the future path of the robot. To test the effectiveness of the improved human-machine interface, two user studies were prepared and conducted. The first study aimed to quantitatively evaluate the ease of differentiating activation of individual tactors of the notification devices. The second user study aimed to assess the overall usability of the enhanced notification mode for improving human awareness about the planned trajectory of a robot. The results of the first experiment allowed to identify the tactors for which vibration intensity was most often confused by users. The results of the second experiment showed that the enhanced notification system allowed the participants to complete the task faster and, in general, improved user awareness of the robot&apos;s movement plan, according to both objective and subjective data. Moreover, the majority of participants (82%) favoured the improved notification system over its previous non-directional version and vision-based inspection.

Název v anglickém jazyce

Intuitive Spatial Tactile Feedback for Better Awareness about Robot Trajectory during Human-Robot Collaboration

Popis výsledku anglicky

In this work, we extend the previously proposed approach of improving mutual perception during human-robot collaboration by communicating the robot&apos;s motion intentions and status to a human worker using hand-worn haptic feedback devices. The improvement is presented by introducing spatial tactile feedback, which provides the human worker with more intuitive information about the currently planned robot&apos;s trajectory, given its spatial configuration. The enhanced feedback devices communicate directional information through activation of six tactors spatially organised to represent an orthogonal coordinate frame: the vibration activates on the side of the feedback device that is closest to the future path of the robot. To test the effectiveness of the improved human-machine interface, two user studies were prepared and conducted. The first study aimed to quantitatively evaluate the ease of differentiating activation of individual tactors of the notification devices. The second user study aimed to assess the overall usability of the enhanced notification mode for improving human awareness about the planned trajectory of a robot. The results of the first experiment allowed to identify the tactors for which vibration intensity was most often confused by users. The results of the second experiment showed that the enhanced notification system allowed the participants to complete the task faster and, in general, improved user awareness of the robot&apos;s movement plan, according to both objective and subjective data. Moreover, the majority of participants (82%) favoured the improved notification system over its previous non-directional version and vision-based inspection.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

20204 - Robotics and automatic control

Projekt

<a href="/cs/project/EF17_049%2F0008425" target="_blank" >EF17_049/0008425: Platforma pro výzkum orientovaný na Průmysl 4.0 a robotiku v ostravské aglomeraci</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>S - Specificky vyzkum na vysokych skolach

Rok uplatnění

2021

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název periodika

Sensors. Vol. 20

ISSN

1424-8220

e-ISSN

—

Svazek periodika

21

Číslo periodika v rámci svazku

17

Stát vydavatele periodika

CH - Švýcarská konfederace

Počet stran výsledku

26

Strana od-do

—

Kód UT WoS článku

000694474900001

EID výsledku v databázi Scopus

2-s2.0-85113433571